/**
  ******************************************************************************
  * @file    py32f0xx_it.c
  * @author  MCU Application Team
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2023 Puya Semiconductor Co.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by Puya under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "py32f0xx_it.h"
#include "qs_analog.h"
#include "qs_relays.h"
#include "qs_action.h"
/* Private includes ----------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
static qs_sched_on_1ms_timeout_timer_evt_s m_on_1ms_timeout_timer_evt = NULL;
/* Private function prototypes -----------------------------------------------*/
/* Private user code ---------------------------------------------------------*/
/* External variables --------------------------------------------------------*/

/******************************************************************************/
/*           Cortex-M0+ Processor Interruption and Exception Handlers         */
/******************************************************************************/
/**
  * @brief This function handles Non maskable interrupt.
  */
void NMI_Handler(void)
{
}

/**
  * @brief This function handles Hard fault interrupt.
  */
void HardFault_Handler(void)
{
  while (1)
  {
  }
}

/**
  * @brief This function handles System service call via SWI instruction.
  */
void SVC_Handler(void)
{
}

/**
  * @brief This function handles Pendable request for system service.
  */
void PendSV_Handler(void)
{
}

uint16_t T1S_value,T1S_Count;
uint16_t PktT1S_value,PktT1S_Count;
uint16_t CrcT1S_value,CrcT1S_Count;
void SysTick_1000mS_Handler(void)
{
    T1S_value = T1S_Count;
	  PktT1S_value = PktT1S_Count;
	  CrcT1S_value = CrcT1S_Count;
    T1S_Count=0;
    PktT1S_Count=0;
	  CrcT1S_Count=0;
    renew=1;
}
/**
  * @brief  This function handles TIM1 interrupt request.
  */
void TIM1_CC_IRQHandler(void)
{
  if(LL_TIM_IsActiveFlag_CC1(TIM1) && LL_TIM_IsEnabledIT_CC1(TIM1))
  {
    LL_TIM_ClearFlag_CC1(TIM1); 

  }
}

/**
  * @brief This function handles System tick timer.
  */
volatile uint32_t TickTime1S;
void SysTick_Handler(void)
{
	  if(m_on_1ms_timeout_timer_evt) {
        m_on_1ms_timeout_timer_evt();
    }
	  for(uint8_t drive = 0;drive < NUM_DRIVES;drive++){
				if(motor_sync_count_flag_P2 && qs_motor_isMoving_active()) {				
			  if((m_motor_sync.phase_2.finish_flag & 0x08) != 0x08){
					if((DrivePosition.data & (0x10 << drive)) != (0x10 << drive))
					  m_motor_sync.phase_2.time_t[drive]++;					
			  }			
			  else if(((m_motor_sync.phase_2.finish_flag & 0x80) != 0x80)){
					if((DrivePosition.data & (0x01 << drive)) != (0x01 << drive))
						m_motor_sync.phase_2.time_t[drive]++;
			  }
			 }else if(motor_sync_count_flag_P3 && qs_motor_isMoving_active())
				{
					if((m_motor_sync.phase_3.finish_flag & 0x08) != 0x08){
					  if((DrivePosition.data & (0x10 << drive)) != (0x10 << drive))
							m_motor_sync.phase_3.time_b[drive]++;					
					}
          else if(((m_motor_sync.phase_3.finish_flag & 0x80) != 0x80)){
					  if((DrivePosition.data & (0x01 << drive)) != (0x01 << drive))
							m_motor_sync.phase_3.time_b[drive]++;
					} 				
					 
				}	
		}	
		GEN++;
		TickTime1S++;
		if(TickTime1S>=1000)
		{
			TickTime1S=0;
			SysTick_1000mS_Handler();
		}	
}
void qs_sched_on_1ms_timeout_timer_evt_set(qs_sched_on_1ms_timeout_timer_evt_s on_1ms_timeout_timer_evt)
{
    m_on_1ms_timeout_timer_evt = on_1ms_timeout_timer_evt;
}
/******************************************************************************/
/* PY32F0xx Peripheral Interrupt Handlers                                     */
/* Add here the Interrupt Handlers for the used peripherals.                  */
/* For the available peripheral interrupt handler names,                      */
/* please refer to the startup file.                                          */
/******************************************************************************/

/************************ (C) COPYRIGHT Puya *****END OF FILE******************/
